JP2002350533A - Body detector - Google Patents
Body detectorInfo
- Publication number
- JP2002350533A JP2002350533A JP2001160779A JP2001160779A JP2002350533A JP 2002350533 A JP2002350533 A JP 2002350533A JP 2001160779 A JP2001160779 A JP 2001160779A JP 2001160779 A JP2001160779 A JP 2001160779A JP 2002350533 A JP2002350533 A JP 2002350533A
- Authority
- JP
- Japan
- Prior art keywords
- unit
- receiving
- wave
- detection target
- interval
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Geophysics And Detection Of Objects (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、物体検出装置に関
するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object detecting device.
【０００２】[0002]
【従来の技術】従来より、例えば図５に示すように、電
波を送信する送信部６１と、検出対象物に反射した反射
波を受信して、受信信号を出力する２つの受信部６２，
６３と、送信部６１及び受信部６２，６３を制御すると
ともに、受信部６２，６３からの受信信号に応じて、検
出対象物の二次元的な位置を特定する演算処理部７０と
を備えた物体検出装置が提供されている。2. Description of the Related Art Conventionally, as shown in FIG. 5, for example, a transmitting section 61 for transmitting radio waves and two receiving sections 62 for receiving a reflected wave reflected on an object to be detected and outputting a received signal,
63, and an arithmetic processing unit 70 that controls the transmission unit 61 and the reception units 62 and 63, and specifies the two-dimensional position of the detection target in accordance with the reception signals from the reception units 62 and 63. An object detection device is provided.
【０００３】ここで演算処理部７０は、送信部６１に電
波を送信させてから、受信部６２が反射波を受信するま
での時間を測定する時間演算処理部７４と、上述と同様
に、送信部６１に電波を送信させてから、受信器６３が
反射波を受信するまでの時間を測定する時間演算処理部
７５と、時間演算処理部７４，７５の演算結果から、検
出対象物までの距離と、装置側から見た検出対象物の角
度を演算する距離角度演算部７６とを備えている。[0005] Here, an arithmetic processing unit 70 measures the time from transmitting the radio wave to the transmitting unit 61 until the receiving unit 62 receives the reflected wave, and a time arithmetic processing unit 74 for measuring the time as described above. A time calculation processing unit 75 that measures the time from when the unit 61 transmits the radio wave to when the receiver 63 receives the reflected wave, and a distance to the detection target from the calculation results of the time calculation processing units 74 and 75. And a distance angle calculator 76 that calculates the angle of the detection target as viewed from the device side.
【０００４】上記従来の物体検出装置は、図６に示すよ
うに、送信部６１から検出対象物６４までの距離と、検
出対象物６４から受信部６２までの距離との和である距
離Ｌ１を測定するとともに、送信部６１から検出対象物
６４までの距離と、検出対象物６４から受信部６３まで
の距離との和である距離Ｌ２を測定し、さらに、前記距
離Ｌ１，Ｌ２と、送信部６１及び受信部６２，６３の位
置関係とから、検出対象物６４の位置を特定する。As shown in FIG. 6, the conventional object detecting device calculates a distance L1 which is a sum of a distance from the transmitting unit 61 to the detection target 64 and a distance from the detection target 64 to the receiving unit 62. At the same time, the distance L2, which is the sum of the distance from the transmitting unit 61 to the detection target 64 and the distance from the detection target 64 to the receiving unit 63, is measured. The position of the detection target 64 is specified based on the positional relationship between the receiving object 61 and the receiving units 62 and 63.
【０００５】例えば図６に示すように、ＸＹ直交座標系
を用いて、送信部６１が原点に配置され、受信部６２，
６３がそれぞれＹ軸上に送信部６１を間に挟んで送信部
６１から距離ｄだけ離れた位置に配置されている場合、
演算処理部７０の距離角度演算部７６は、送信部６１の
位置（０，０）及び受信部６２の位置（０，ｄ）を焦点
として、Ｘ１2／｛（Ｌ１2）／４｝＋Ｙ１2／｛（Ｌ
１2）／４−ｄ2｝＝１で表される楕円（Ｘ１，Ｙ１）
と、送信部６１の位置（０，０）及び受信部６３の位置
（０，−ｄ）を焦点として、Ｘ２2／｛（Ｌ２2）／４｝
＋Ｙ２2／｛（Ｌ２2）／４−ｄ2｝＝１で表される楕円
（Ｘ２，Ｙ２）との交点から、検出対象物６４までの距
離と、装置側から見た検出対象物６４の角度θを幾何学
的に求めるのである。その結果、演算処理部７０におい
て検出対象物６４の位置が特定される。For example, as shown in FIG. 6, a transmitting unit 61 is arranged at an origin using an XY orthogonal coordinate system, and a receiving unit 62,
63 are arranged on the Y axis at a distance d from the transmitting unit 61 with the transmitting unit 61 interposed therebetween,
The distance angle calculation unit 76 of the calculation processing unit 70 sets the position (0, 0) of the transmission unit 61 and the position (0, d) of the reception unit 62 as focal points, and X1 2 / {(L1 2 ) / 4} + Y1 2. / ｛(L
Ellipse (X1, Y1) represented by 1 2 ) / 4−d 2 ｝ = 1
X2 2 / {(L2 2 ) / 4} with focus on the position (0,0) of the transmitting unit 61 and the position (0, −d) of the receiving unit 63.
+ Y2 2 / {(L2 2 ) / 4−d 2 } = 1, the distance from the intersection with the ellipse (X2, Y2) to the detection target 64 and the detection target 64 as viewed from the device side Is determined geometrically. As a result, the position of the detection target 64 is specified in the arithmetic processing unit 70.
【０００６】ここで、距離Ｌ１，Ｌ２はパルス方式によ
り測定される。例えば図７に示すように、送信部６１か
ら電波が送信されてから、時間ｔ１経過したときに、受
信部６２で反射波が受信されるとともに、時間ｔ２経過
したときに、受信部６３で反射波が受信される場合、演
算処理部７０の時間演算処理部７４は、送信部６１から
電波が送信されたことを知らせる送信信号と、受信部６
２からの受信信号とから上記時間ｔ１を測定し、演算処
理部７０の時間演算処理部７５は、送信部６１からの前
記送信信号と、受信部６３からの受信信号とから上記時
間ｔ２を測定する。そして、演算処理部７０の距離角度
演算部７６は、時間演算処理部７４，７５の測定結果か
ら、上述の距離Ｌ１をＬ１＝Ｃ・ｔ１により求め、距離
Ｌ２をＬ２＝Ｃ・ｔ２により求める。なお、Ｃは電波の
速度を表す。Here, the distances L1 and L2 are measured by a pulse method. For example, as shown in FIG. 7, when a time t1 elapses after the radio wave is transmitted from the transmission unit 61, a reflected wave is received by the reception unit 62, and when a time t2 elapses, the reflected wave is reflected by the reception unit 63. When a wave is received, the time calculation processing unit 74 of the calculation processing unit 70 transmits a transmission signal indicating that a radio wave has been transmitted from the transmission unit 61 to the reception unit 6.
The time calculation unit 75 of the calculation processing unit 70 measures the time t2 from the transmission signal from the transmission unit 61 and the reception signal from the reception unit 63. I do. Then, the distance angle calculator 76 of the calculation processor 70 obtains the above-described distance L1 from L1 = C · t1 and obtains the distance L2 from L2 = C · t2 from the measurement results of the time calculation processors 74 and 75. Note that C represents the speed of a radio wave.
【０００７】ところで、上述の時間ｔ１と時間ｔ２の差
が電波の周期に比べて小さい場合には、演算処理部７０
は受信部６２，６３で受信したそれぞれの反射波の位相
差を測定し、この位相差を用いて検出対象物６４までの
距離とその角度を求める。If the difference between the time t1 and the time t2 is smaller than the period of the radio wave, the arithmetic processing unit 70
Measures the phase difference between the respective reflected waves received by the receivers 62 and 63, and calculates the distance to the detection object 64 and the angle thereof using the phase difference.
【０００８】[0008]
【発明が解決しようとする課題】しかしながら、装置側
から見た検出対象物６４の角度θが大きくなってある一
定角度を超えると、各受信部６２，６３から検出対象物
６４までの距離の差が大きくなって、各受信部６２，６
３で受信する反射波の位相差が２πを超え、その結果、
演算処理部７０は、検出対象物６４の位置を誤って特定
してしまうといった問題があった。However, when the angle θ of the detection target 64 as viewed from the apparatus side is increased and exceeds a certain angle, the difference in the distance from each of the receiving units 62 and 63 to the detection target 64 is increased. Becomes larger, and the receiving units 62 and 6
The phase difference of the reflected wave received at 3 exceeds 2π, and as a result,
The arithmetic processing unit 70 has a problem that the position of the detection target 64 is erroneously specified.
【０００９】例えば図８に示すように、検出対象物６４
が位置１８にある場合と、位置１８から角度θの大きい
位置１９にある場合とで、受信部６２，６３から検出対
象物６４までの距離の差は、検出対象物６４が位置１９
にある場合の方が大きい。ここで角度θがある一定の値
になると、検出対象物６４が位置１８，１９にある場合
で、位相差がφ、２π＋φとなることがある。For example, as shown in FIG.
Is different from the distance between the receiving units 62 and 63 and the detection target 64 when the detection target 64 is located at the position 19 and when the detection target 64 is located at the position 19 where the angle θ is large.
It is larger when there is. Here, when the angle θ has a certain value, the phase difference may be φ, 2π + φ when the detection target 64 is at the positions 18 and 19.
【００１０】このときには、演算処理部７０は、検出対
象物６４が位置１８にあるのか、位置１９にあるのかを
区別できず、実際に検出対象物６４が位置１９にあって
も、位置１８にあると誤った判断をしてしまうのであ
る。At this time, the arithmetic processing unit 70 cannot distinguish whether the detection target 64 is at the position 18 or the position 19, and even if the detection target 64 is actually at the position 19, They make the wrong decision.
【００１１】ここで、位相差が２π以上ずれることなく
正常に検出対象物６４の位置を検出することができる角
度θの範囲は、受信部６２，６３のそれぞれの中心の間
隔ｈに依存し、前記間隔ｈが狭いほど大きくなる。そこ
で、間隔ｈを狭くしようとしても、各受信部６２，６３
に指向性の鋭い受信素子などを用いる場合、受信素子の
サイズが大きいため、間隔ｈを受信素子自体の幅寸法よ
りも小さくすることが困難であった。The range of the angle θ at which the position of the detection object 64 can be normally detected without a phase difference of 2π or more depends on the distance h between the centers of the receiving units 62 and 63, The smaller the distance h, the larger the distance. Therefore, even if the interval h is to be reduced, each of the receiving units 62 and 63
When a receiving element having a sharp directivity is used, it is difficult to make the interval h smaller than the width dimension of the receiving element itself because the size of the receiving element is large.
【００１２】本発明は上記問題点の解決を目的とするも
のであり、広い角度範囲において正確に検出対象物の位
置を検出する物体検出装置を提供する。SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and to provide an object detection device for accurately detecting the position of a detection target in a wide angle range.
【００１３】[0013]
【課題を解決するための手段】上記目的を達成するため
に、請求項１の発明は、電磁波又音波のような波動を送
出する送出部と、送出した波動による反射波を受信する
２つの異なる位置に配置された受信部と、送出部で波動
が送出されてから各受信部で反射波が受信されるまでの
時間差、各受信部で受信された反射波の位相差を測定し
て検出対象物の位置を特定する演算処理部とを備え、各
受信部は、反射波を受ける複数の素子を配列してなり、
一方の受信部における複数の素子の配列中に、他方の受
信部における複数の素子のうち少なくとも１つが位置す
るように配置されたことを特徴とし、各受信部を互いに
重なるように配置したことによって、各受信部の中心の
間隔を、受信部の大きさに関わらずに従来例よりも小さ
くして、装置側から見た角度に応じて前記位相差が所定
値よりも大きくなるのを抑え、広い角度範囲において正
確に検出対象物の位置を特定することができる。In order to achieve the above object, the invention according to claim 1 is characterized in that a transmitting unit for transmitting a wave such as an electromagnetic wave or a sound wave and two different units for receiving a reflected wave by the transmitted wave. The time difference between the time when the wave is sent from the sending unit and the time when the reflected wave is received by each receiving unit, and the phase difference between the reflected waves received by each receiving unit are measured. An arithmetic processing unit that specifies the position of an object, and each receiving unit is configured by arranging a plurality of elements that receive reflected waves,
In the arrangement of the plurality of elements in one receiving unit, at least one of the plurality of elements in the other receiving unit is arranged so as to be located, and by arranging each receiving unit to overlap each other The interval between the centers of the receiving units is made smaller than the conventional example regardless of the size of the receiving unit, and the phase difference is suppressed from becoming larger than a predetermined value according to the angle seen from the device side, The position of the detection target can be accurately specified in a wide angle range.
【００１４】請求項２の発明は、電磁波又音波のような
波動を送出する送出部と、送出した波動による反射波を
受信して受信信号を出力する少なくとも３つの異なる位
置に配置された受信部と、前記複数の受信部のうち何れ
か２つの受信信号を基に、送出部で波動が送出されてか
ら各受信部で反射波が受信されるまでの時間差、各受信
部で受信された反射波の位相差を測定して、検出対象物
の位置を特定する演算処理部と、前記複数の受信部のう
ち何れか２つの受信部からの受信信号を切り換えて演算
処理部に出力する切換手段とを備え、切換手段は、受信
信号を切り換えたとき、演算処理部に受信信号を出力す
る受信部の間隔を異ならせ、演算処理部は、切換手段の
切換前に特定した検出対象物の位置を、切換手段の切換
後に特定した検出対象物の位置と比較して、互いに一致
する位置を検出対象物の位置として判断することを特徴
とし、演算処理部に検出対象物の位置を特定させると
き、前記位相差が所定値よりも大きくなる場合も含め
て、装置側から見た角度に応じて複数の位置が特定され
ても、演算処理部に受信信号を出力する受信部の間隔を
切換手段で異ならせる前後に、検出対象物の位置を特定
させて、特定結果を比較させ、互いに一致する位置を検
出対象物の位置として判断させることによって、広い角
度範囲において正確に検出対象物の位置を特定すること
ができる。According to a second aspect of the present invention, there is provided a transmitting section for transmitting a wave such as an electromagnetic wave or a sound wave, and receiving sections disposed at at least three different positions for receiving a reflected wave due to the transmitted wave and outputting a received signal. And a time difference between the transmission of the wave by the transmitting unit and the reception of the reflected wave by each receiving unit based on any two received signals of the plurality of receiving units; An arithmetic processing unit for measuring the phase difference of the wave to specify the position of the detection target; and a switching unit for switching a received signal from any two of the plurality of receiving units and outputting the signal to the arithmetic processing unit The switching means changes the interval between the receiving sections that output the received signal to the arithmetic processing section when the received signal is switched, and the arithmetic processing section determines the position of the detection target specified before the switching of the switching means. Is detected after the switching of the switching means. Compared with the position of the elephant, the position that matches each other is determined as the position of the detection target, and when the arithmetic processing unit specifies the position of the detection target, the phase difference is larger than a predetermined value. Even if a plurality of positions are specified according to the angle seen from the device side, including before and after, the interval of the receiving unit that outputs the received signal to the arithmetic processing unit is changed before and after the switching unit to change the interval, and By causing the position to be specified, comparing the specified results, and determining the position that matches each other as the position of the detection target, the position of the detection target can be specified accurately in a wide angle range.
【００１５】請求項３の発明は、電磁波又音波のような
波動を送出する送出部と、送出した波動による反射波を
受信して受信信号を出力する２つの異なる位置に配置さ
れた受信部と、前記受信部の受信信号を基に、送出部で
波動が送出されてから各受信部で反射波が受信されるま
での時間差、各受信部で受信された反射波の位相差を測
定して、検出対象物の位置を特定する演算処理部と、前
記２つ受信部の間隔を可変させる間隔可変手段とを備
え、演算処理部は、間隔可変手段で前記間隔を可変する
前に特定した検出対象物の位置を、間隔可変手段で前記
間隔を可変した後に特定した検出対象物の位置と比較し
て、互いに一致する位置を検出対象物の位置として判断
することを特徴とし、演算処理部に検出対象物の位置を
特定させるとき、前記位相差が所定値よりも大きくなる
場合も含めて、装置側から見た角度に応じて複数の位置
が特定されても、間隔可変手段で受信部の間隔を異なら
せる前後に、検出対象物の位置を特定させて、特定結果
を比較させ、互いに一致する位置を検出対象物の位置と
して判断させることによって、広い角度範囲において正
確に検出対象物の位置を特定することができる。According to a third aspect of the present invention, there is provided a transmitting section for transmitting a wave such as an electromagnetic wave or a sound wave, and receiving sections disposed at two different positions for receiving a reflected wave due to the transmitted wave and outputting a reception signal. On the basis of the reception signal of the receiving unit, a time difference from when the wave is transmitted by the transmitting unit to when the reflected wave is received by each receiving unit, and a phase difference of the reflected wave received by each receiving unit are measured. An arithmetic processing unit for specifying the position of the detection target; and an interval variable unit for changing the interval between the two receiving units, wherein the arithmetic processing unit detects the detection specified before changing the interval by the interval variable unit. The position of the target object is compared with the position of the detection target object specified after changing the interval by the interval variable unit, and a position that matches each other is determined as the position of the detection target object. Before specifying the position of the detection target, Even if the phase difference is larger than a predetermined value, even if a plurality of positions are specified according to the angle seen from the apparatus side, before and after the interval of the receiving unit is changed by the interval variable unit, the detection target is detected. By causing the position to be specified, comparing the specified results, and determining the position that matches each other as the position of the detection target, the position of the detection target can be specified accurately in a wide angle range.
【００１６】請求項４の発明は、請求項３の発明におい
て、間隔可変手段は、２つの受信部のうち一方を移動さ
せることで、２つの受信部の間隔を可変させることを特
徴とし、請求項３の発明と同様の作用を奏する。According to a fourth aspect of the present invention, in the third aspect of the present invention, the interval variable means changes one of the two receiving sections to change the interval between the two receiving sections. The same effect as the invention of Item 3 is exerted.
【００１７】請求項５の発明は、請求項３の発明におい
て、間隔可変手段は、２つの受信部を移動させること
で、２つの受信部の間隔を可変させることを特徴とし、
請求項３と同様の作用を奏する。According to a fifth aspect of the present invention, in the third aspect of the present invention, the interval varying means varies the interval between the two receiving units by moving the two receiving units.
The same operation as the third aspect is achieved.
【００１８】[0018]
【発明の実施の形態】（実施形態１）本実施形態におけ
る基本構成は従来例と共通するために共通する部分につ
いては同一の符号を付して説明を省略し、本実施形態の
特徴となる部分についてのみ詳細に説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) The basic configuration in this embodiment is common to that of the conventional example. Only parts will be described in detail.
【００１９】本実施形態では、図１に示すように、電波
を送信する送信部６１と、送信した電波による反射波を
受信して受信信号を出力する２つの異なる位置に配置さ
れた受信部１０ａ，２０ａと、前記受信信号を基に、送
信部６１で電波が送信されてから各受信部１０ａ，２０
ａで反射波が受信されるまでの時間差、各受信部１０
ａ，２０ａで受信された反射波の位相差を測定して検出
対象物の位置を特定する演算処理部７０とを備えてい
る。In the present embodiment, as shown in FIG. 1, a transmitting section 61 for transmitting a radio wave and a receiving section 10a arranged at two different positions for receiving a reflected wave of the transmitted radio wave and outputting a received signal. , 20a and the receiving unit 10a, 20a after the radio wave is transmitted by the transmitting unit 61 based on the received signal.
a, the time difference until the reflected wave is received at each receiving unit 10
a, 70 a for measuring the phase difference between the reflected waves received at 20 a and 20 a to specify the position of the detection target.
【００２０】そして本実施形態の受信部１０ａ，２０ａ
は、それぞれ反射波を受けて信号を出力する４つの受信
素子１１〜１４，２１〜２４を配列してなる。これら各
受信素子１１〜１４，２１〜２４は、従来例の受信部６
２，６３よりも十分小さく形成されている。そして、こ
の受信部１０ａ，２０ａは、受信部１０ａの受信素子１
２，１４が受信部２０ａの受信素子２１〜２４の配列中
に位置し、受信部２０ａの受信素子２１，２３が受信部
１０ａの受信素子１１〜１４の配列中に位置するように
配置されている。The receiving units 10a and 20a of the present embodiment
Comprises four receiving elements 11 to 14 and 21 to 24, each of which receives a reflected wave and outputs a signal. Each of these receiving elements 11 to 14, 21 to 24 is provided with a receiving unit 6 of a conventional example.
It is formed sufficiently smaller than 2,63. The receiving units 10a and 20a are connected to the receiving element 1 of the receiving unit 10a.
2, 14 are arranged in the arrangement of the receiving elements 21 to 24 of the receiving section 20a, and the receiving elements 21, 23 of the receiving section 20a are arranged in the arrangement of the receiving elements 11 to 14 of the receiving section 10a. I have.
【００２１】このような本実施形態では、受信部１０ａ
が、各受信素子１１〜１４からの信号を受信信号として
出力し、これと同様、受信部２０ａが、各受信素子２１
〜２４からの信号を受信信号として出力して、演算処理
部７０が、従来例と同様、受信部１０ａ，２０ａからの
受信信号を基に検出対象物の位置を特定する。なお、各
受信部１０ａ，２０ａ毎で受信素子１１〜１４，２１〜
２４での反射波を受ける時間差や、受けた反射波の位相
差は、演算処理部７０により位置を特定する上で問題と
なるレベルではなく、無視できるものである。In this embodiment, the receiving unit 10a
Outputs signals from the receiving elements 11 to 14 as received signals. Similarly, the receiving unit 20a
24 are output as received signals, and the arithmetic processing unit 70 specifies the position of the detection target based on the received signals from the receiving units 10a and 20a as in the conventional example. Note that the receiving elements 11 to 14, 21 to 21 are respectively provided for the respective receiving units 10a and 20a.
The time difference of receiving the reflected wave at 24 and the phase difference of the received reflected wave are not at a level that causes a problem in specifying the position by the arithmetic processing unit 70, but can be ignored.
【００２２】その結果、本実施形態では、受信部１０
ａ，２０ａの中心の間隔ｈを、従来例よりも小さくし
て、装置側から見た角度θに応じて上記位相差が２πよ
りも大きくなるのを抑え、広い角度範囲において正確に
検出対象物の位置を特定することができる。 （実施形態２）本実施形態における基本構成は従来例と
共通するために共通する部分については同一の符号を付
して説明を省略し、本実施形態の特徴となる部分につい
てのみ詳細に説明する。As a result, in the present embodiment, the receiving unit 10
The distance h between the centers of the a and 20a is made smaller than that of the conventional example so that the phase difference does not become larger than 2π in accordance with the angle θ seen from the apparatus side, and the object to be detected can be accurately detected in a wide angle range. Can be specified. (Embodiment 2) Since the basic configuration in this embodiment is common to that of the conventional example, the same parts are denoted by the same reference numerals and the description thereof will be omitted, and only the characteristic parts of this embodiment will be described in detail. .
【００２３】本実施形態では、図２に示すように、電波
を送信する送信部６１と、送信した電波による反射波を
受信して受信信号を出力する４つの異なる位置に配置さ
れた受信部１０ａ，１０ｂ，２０ａ，２０ｂと、受信部
１０ａ，２０ａの受信信号を基に、送信部６１で電波が
送信されてから各受信部１０ａ，２０ａで反射波が受信
されるまでの時間差、各受信部１０ａ，２０ａで受信さ
れた反射波の位相差を測定して、検出対象物の位置を特
定するとともに、受信部１０ｂ，２０ｂの受信信号を基
に、上述と同様、送信部６１で電波が送信されてから各
受信部１０ｂ，２０ｂで反射波が受信されるまでの時間
差、各受信部１０ｂ，２０ｂで受信された反射波の位相
差を測定して、検出対象物の位置を特定する演算処理部
７０と、演算処理部７０により特定された位置を記憶す
る記憶部３０とを備えている。In this embodiment, as shown in FIG. 2, a transmitting section 61 for transmitting radio waves and receiving sections 10a arranged at four different positions for receiving reflected waves of the transmitted radio waves and outputting received signals. , 10b, 20a, 20b, and the time difference between the transmission of a radio wave by the transmission unit 61 and the reception of the reflected wave by each of the reception units 10a, 20a, based on the reception signals of the reception units 10a, 20a. By measuring the phase difference between the reflected waves received by 10a and 20a, the position of the detection target is specified, and based on the reception signals of the reception units 10b and 20b, the transmission unit 61 transmits radio waves in the same manner as described above. An arithmetic process for measuring the time difference between the reception of the reflected wave at each of the receiving units 10b and 20b and the phase difference between the reflected waves received at each of the receiving units 10b and 20b to specify the position of the detection target. Unit 70 and arithmetic processing And a storage unit 30 for storing the specified position by 70.
【００２４】さらに、本実施形態では、受信部１０ａ，
１０ｂから演算処理部７０に出力される受信信号を何れ
か一方に切り換える信号切換部３５と、受信部２０ａ，
２０ｂから演算処理部７０に出力される受信信号を何れ
か一方に切り換える信号切換部３６とを備えて、演算処
理部７０は前記信号切換部３５，３６を制御して、自己
に入力される受信信号を、受信部１０ａ，２０ａからの
受信信号と受信部１０ｂ，２０ｂからの受信信号とに切
り換えさせる。このように受信信号が切り換えられるこ
とで、演算処理部７０に受信信号を出力する受信部１０
ａ，２０ａの間隔ｈ１と、受信部１０ｂ，２０ｂの間隔
ｈ２とが異なる。なお、本実施形態では信号切換器３
５，３６と演算処理部７０とから切換手段を構成してい
る。Further, in the present embodiment, the receiving units 10a,
A signal switching unit 35 for switching the reception signal output from the signal processing unit 10b to the arithmetic processing unit 70 to one of the reception signals;
A signal switching unit 36 for switching the received signal output from the signal processing unit 20b to the arithmetic processing unit 70 to one of the signal processing units 70, and the arithmetic processing unit 70 controls the signal switching units 35 and 36 to The signal is switched between the reception signals from the reception units 10a and 20a and the reception signals from the reception units 10b and 20b. By switching the reception signal in this manner, the reception unit 10 that outputs the reception signal to the arithmetic processing unit 70
The interval h1 between a and 20a is different from the interval h2 between the receiving units 10b and 20b. In the present embodiment, the signal switch 3
The switching means is composed of 5, 36 and the arithmetic processing unit 70.
【００２５】そして本実施形態の演算処理部７０は、信
号切換部３５，３６を制御して、受信信号を切り換える
ことで、演算処理部７０に受信信号を出力する受信部の
間隔を異ならせ、受信信号の切換前に特定した検出対象
物の位置を、受信信号の切換後に特定した検出対象物の
位置と比較して、互いに一致する位置を検出対象物の位
置として判断する。The arithmetic processing unit 70 of the present embodiment controls the signal switching units 35 and 36 to switch the received signal, thereby changing the interval between the receiving units that output the received signal to the arithmetic processing unit 70, The position of the detection target specified before the switching of the reception signal is compared with the position of the detection target specified after the switching of the reception signal, and a position that matches each other is determined as the position of the detection target.
【００２６】例えば演算処理部７０は、信号切換部３
５，３６を制御して、受信部１０ａ，２０ａからの受信
信号に基づいて検出対象物の位置を特定し、特定した結
果を記憶部３０に記憶させる。ここで、演算処理部７０
は、検出対象物の位置を特定するときには、上記位相差
が２πよりも大きくなる場合も含めて、装置側から見た
角度θに応じて複数個の位置を特定しており、この複数
個の位置が記憶部３０に記憶される。その後、演算記憶
部７０は、信号切換部３５，３６を制御して受信信号を
切り換え、受信部１０ｂ，２０ｂからの受信信号に基づ
いて検出対象物の位置を特定し、特定した結果を記憶部
３０に記憶させる。このときにも、上述と同様、演算記
憶部７０は複数個の位置を特定している。そして、演算
処理部７０は、上述のように、切換前後で特定された複
数の位置を記憶部３０から読み出して比較し、互いに一
致する位置を検出対象物の位置として判断するのであ
る。For example, the arithmetic processing unit 70 includes the signal switching unit 3
5 and 36 are controlled, the position of the detection target is specified based on the reception signals from the receiving units 10a and 20a, and the specified result is stored in the storage unit 30. Here, the arithmetic processing unit 70
When specifying the position of the detection target, a plurality of positions are specified in accordance with the angle θ viewed from the apparatus side, including the case where the phase difference is larger than 2π. The position is stored in the storage unit 30. Thereafter, the arithmetic storage unit 70 controls the signal switching units 35 and 36 to switch the reception signal, specifies the position of the detection target based on the reception signals from the reception units 10b and 20b, and stores the specified result in the storage unit. 30. Also at this time, as described above, the arithmetic storage unit 70 specifies a plurality of positions. Then, as described above, the arithmetic processing unit 70 reads a plurality of positions specified before and after the switching from the storage unit 30 and compares them, and determines a position that matches each other as a position of the detection target.
【００２７】これにより本実施形態では、従来例よりも
広い角度範囲で正確に検出対象物の位置を特定すること
ができる。 （実施形態３）本実施形態における基本構成は実施形態
１又は２と共通するために共通する部分については同一
の符号を付して説明を省略し、本実施形態の特徴となる
部分についてのみ詳細に説明する。As a result, in this embodiment, the position of the detection target can be specified more accurately in a wider angle range than in the conventional example. (Embodiment 3) Since the basic configuration in this embodiment is common to Embodiment 1 or 2, the same reference numerals are given to the common parts, and the description thereof will be omitted, and only the characteristic parts of this embodiment will be detailed. Will be described.
【００２８】本実施形態では、図３に示すように、電波
を送信する送信部６１と、送信した電波による反射波を
受信して受信信号を出力する２つの異なる位置に配置さ
れた受信部１０ａ，２０ａと、受信部１０ａ，２０ａの
受信信号を基に、送信部６１で電波が送信されてから各
受信部１０ａ，２０ａで反射波が受信されるまでの時間
差、各受信部１０ａ，２０ａで受信された反射波の位相
差から、検出対象物の位置を特定する演算処理部７０
と、演算処理部７０により特定された位置を記憶する記
憶部３０とを備えている。In this embodiment, as shown in FIG. 3, a transmitting section 61 for transmitting a radio wave and a receiving section 10a arranged at two different positions for receiving a reflected wave of the transmitted radio wave and outputting a received signal. , 20a and the time difference between the transmission of the radio wave by the transmission unit 61 and the reception of the reflected wave by each of the reception units 10a, 20a based on the reception signals of the reception units 10a, 20a. An arithmetic processing unit 70 for specifying the position of the detection target from the phase difference between the received reflected waves
And a storage unit 30 for storing the position specified by the arithmetic processing unit 70.
【００２９】さらに本実施形態は、演算処理部７０の制
御により受信部１０ａの位置を受信部１０ａ，２０ａの
配列方向に移動させる移動機構部４０を備え、２つ受信
部１０ａ，２０ａの間隔をｈ１，ｈ２に可変させる。な
お、本実施形態では移動機構部４０と演算処理部７０と
から間隔可変手段を構成している。The present embodiment further includes a moving mechanism section 40 for moving the position of the receiving section 10a in the direction in which the receiving sections 10a and 20a are arranged under the control of the arithmetic processing section 70, and setting the interval between the two receiving sections 10a and 20a. h1 and h2. In the present embodiment, the moving mechanism unit 40 and the arithmetic processing unit 70 constitute an interval changing unit.
【００３０】そして本実施形態の演算処理部７０は、移
動機構部４０を制御して、受信部１０ａ，２０ａの間隔
をｈ１，ｈ２に可変させ、前記間隔を可変する前に特定
した検出対象物の位置を、前記間隔を可変した後に特定
した検出対象物の位置と比較して、互いに一致する位置
を検出対象物の位置として判断する。The arithmetic processing unit 70 of the present embodiment controls the moving mechanism unit 40 to change the distance between the receiving units 10a and 20a to h1 and h2, and to specify the detection target specified before changing the distance. Is compared with the position of the detection target specified after the interval is changed, and the positions that match each other are determined as the positions of the detection target.
【００３１】例えば演算処理部７０は、移動機構部４０
を制御して受信部１０ａ，２０ａの間隔をｈ１として、
受信部１０ａ，２０ａからの受信信号に基づいて検出対
象物の位置を特定し、特定した結果を記憶部３０に記憶
させる。ここで、演算処理部７０は、検出対象物の位置
を特定するときには、上記位相差が２πよりも大きくな
る場合も含めて、装置側から見た角度θに応じて複数個
の位置を特定しており、この複数個の位置が記憶部３０
に記憶される。その後、演算処理部７０は、移動機構部
４０を制御して受信部１０ａ，２０ａの間隔をｈ２とし
て、受信部１０ａ，２０ａからの受信信号に基づいて検
出対象物の位置を特定し、特定した結果を記憶部３０に
記憶させる。このときにも、上述と同様、複数個の位置
を特定している。そして、演算処理部７０は、上述のよ
うに受信部１０ａ，２０ａの間隔を可変させる前後で、
特定された複数の位置を記憶部３０から読み出して比較
し、互いに一致する位置を検出対象物の位置として判断
するのである。For example, the arithmetic processing unit 70 includes the moving mechanism unit 40
And the interval between the receiving units 10a and 20a is defined as h1,
The position of the detection target is specified based on the reception signals from the receiving units 10a and 20a, and the specified result is stored in the storage unit 30. Here, when specifying the position of the detection target, the arithmetic processing unit 70 specifies a plurality of positions according to the angle θ viewed from the apparatus side, including the case where the phase difference is larger than 2π. The plurality of positions are stored in the storage unit 30.
Is stored. After that, the arithmetic processing unit 70 controls the moving mechanism unit 40 to specify the position of the detection target based on the reception signals from the receiving units 10a and 20a, with the interval between the receiving units 10a and 20a as h2. The result is stored in the storage unit 30. Also at this time, a plurality of positions are specified as described above. Then, the arithmetic processing unit 70 before and after changing the interval between the receiving units 10a and 20a as described above,
The plurality of specified positions are read from the storage unit 30 and compared, and the positions that match each other are determined as the positions of the detection target.
【００３２】これにより本実施形態においても、実施形
態２と同様、従来例よりも広い角度範囲で正確に検出対
象物の位置を特定することができる。Thus, also in the present embodiment, similarly to the second embodiment, the position of the detection target can be specified more accurately in a wider angle range than in the conventional example.
【００３３】ところで本実施形態では、移動機構部４０
に受信部１０ａのみを移動させたが、図４に示すよう
に、受信部１０ａ，２０ａをそれぞれの配列方向に移動
させて、受信部１０ａ，２０ａの間隔をｈ１，ｈ２に可
変させるようにしても良い。In this embodiment, the moving mechanism 40
Although only the receiving unit 10a was moved in FIG. 4, as shown in FIG. 4, the receiving units 10a and 20a were moved in the respective arrangement directions so that the distance between the receiving units 10a and 20a was changed to h1 and h2. Is also good.
【００３４】[0034]
【発明の効果】請求項１の発明は、電磁波又音波のよう
な波動を送出する送出部と、送出した波動による反射波
を受信する２つの異なる位置に配置された受信部と、送
出部で波動が送出されてから各受信部で反射波が受信さ
れるまでの時間差、各受信部で受信された反射波の位相
差を測定して検出対象物の位置を特定する演算処理部と
を備え、各受信部は、反射波を受ける複数の素子を配列
してなり、一方の受信部における複数の素子の配列中
に、他方の受信部における複数の素子のうち少なくとも
１つが位置するように配置されたので、各受信部の中心
の間隔を、受信部の大きさに関わらずに従来例よりも小
さくして、装置側から見た角度に応じて前記位相差が所
定値よりも大きくなるのを抑え、広い角度範囲において
正確に検出対象物の位置を特定することができるという
効果がある。According to the first aspect of the present invention, a transmitting section for transmitting a wave such as an electromagnetic wave or a sound wave, a receiving section disposed at two different positions for receiving reflected waves due to the transmitted wave, and a transmitting section. An arithmetic processing unit for measuring the time difference between the transmission of the wave and the reception of the reflected wave by each receiving unit, and the phase difference of the reflected wave received by each receiving unit to specify the position of the detection target; , Each receiving unit is arranged with a plurality of elements for receiving the reflected wave, and is arranged such that at least one of the plurality of elements in the other receiving unit is located in the arrangement of the plurality of elements in one receiving unit. Therefore, the interval between the centers of the receiving units is made smaller than the conventional example regardless of the size of the receiving unit, and the phase difference becomes larger than a predetermined value according to the angle seen from the device side. And accurately detect the target in a wide angle range. There is an effect that it is possible to identify the location.
【００３５】請求項２の発明は、電磁波又音波のような
波動を送出する送出部と、送出した波動による反射波を
受信して受信信号を出力する少なくとも３つの異なる位
置に配置された受信部と、前記複数の受信部のうち何れ
か２つの受信信号を基に、送出部で波動が送出されてか
ら各受信部で反射波が受信されるまでの時間差、各受信
部で受信された反射波の位相差を測定して、検出対象物
の位置を特定する演算処理部と、前記複数の受信部のう
ち何れか２つの受信部からの受信信号を切り換えて演算
処理部に出力する切換手段とを備え、切換手段は、受信
信号を切り換えたとき、演算処理部に受信信号を出力す
る受信部の間隔を異ならせ、演算処理部は、切換手段の
切換前に特定した検出対象物の位置を、切換手段の切換
後に特定した検出対象物の位置と比較して、互いに一致
する位置を検出対象物の位置として判断するので、演算
処理部に検出対象物の位置を特定させるとき、前記位相
差が所定値よりも大きくなる場合も含めて、装置側から
見た角度に応じて複数の位置が特定されても、演算処理
部に受信信号を出力する受信部の間隔を切換手段で異な
らせる前後に、検出対象物の位置を特定させて、特定結
果を比較させ、互いに一致する位置を検出対象物の位置
として判断させることによって、広い角度範囲において
正確に検出対象物の位置を特定することができるという
効果がある。According to a second aspect of the present invention, there is provided a transmitting section for transmitting a wave such as an electromagnetic wave or a sound wave, and receiving sections disposed at at least three different positions for receiving a reflected wave of the transmitted wave and outputting a received signal. And a time difference between the transmission of the wave by the transmitting unit and the reception of the reflected wave by each receiving unit based on any two received signals of the plurality of receiving units; An arithmetic processing unit for measuring the phase difference of the wave to specify the position of the detection target; and a switching unit for switching a received signal from any two of the plurality of receiving units and outputting the signal to the arithmetic processing unit The switching means changes the interval between the receiving sections that output the received signal to the arithmetic processing section when the received signal is switched, and the arithmetic processing section determines the position of the detection target specified before the switching of the switching means. Is detected after the switching of the switching means. Compared with the position of the elephant, the position that matches each other is determined as the position of the detection target, so that when the arithmetic processing unit specifies the position of the detection target, the phase difference may be larger than a predetermined value. Even if a plurality of positions are specified according to the angle viewed from the device side, the position of the detection target is specified before and after the interval of the receiving unit that outputs the reception signal to the arithmetic processing unit is changed by the switching unit. Then, the identification results are compared with each other, and a position that matches each other is determined as the position of the detection target, whereby the position of the detection target can be accurately specified in a wide angle range.
【００３６】請求項３の発明は、電磁波又音波のような
波動を送出する送出部と、送出した波動による反射波を
受信して受信信号を出力する２つの異なる位置に配置さ
れた受信部と、前記受信部の受信信号を基に、送出部で
波動が送出されてから各受信部で反射波が受信されるま
での時間差、各受信部で受信された反射波の位相差を測
定して、検出対象物の位置を特定する演算処理部と、前
記２つ受信部の間隔を可変させる間隔可変手段とを備
え、演算処理部は、間隔可変手段で前記間隔を可変する
前に特定した検出対象物の位置を、間隔可変手段で前記
間隔を可変した後に特定した検出対象物の位置と比較し
て、互いに一致する位置を検出対象物の位置として判断
するので、演算処理部に検出対象物の位置を特定させる
とき、前記位相差が所定値よりも大きくなる場合も含め
て、装置側から見た角度に応じて複数の位置が特定され
ても、間隔可変手段で受信部の間隔を異ならせる前後
に、検出対象物の位置を特定させて、特定結果を比較さ
せ、互いに一致する位置を検出対象物の位置として判断
させることによって、広い角度範囲において正確に検出
対象物の位置を特定することができるという効果があ
る。According to a third aspect of the present invention, there is provided a transmitting section for transmitting a wave such as an electromagnetic wave or a sound wave, and receiving sections disposed at two different positions for receiving a reflected wave of the transmitted wave and outputting a received signal. On the basis of the reception signal of the receiving unit, a time difference from when the wave is transmitted by the transmitting unit to when the reflected wave is received by each receiving unit, and a phase difference of the reflected wave received by each receiving unit are measured. An arithmetic processing unit for specifying the position of the detection target; and an interval variable unit for changing the interval between the two receiving units, wherein the arithmetic processing unit detects the detection specified before changing the interval by the interval variable unit. The position of the target object is compared with the position of the detection target object specified after the interval is changed by the interval variable means, and a position matching each other is determined as the position of the detection target object. When specifying the position of Even if a plurality of positions are specified according to the angle seen from the apparatus side, including the case where the distance is larger than the fixed value, the position of the detection target is specified before and after the interval of the receiving unit is changed by the interval variable unit. Then, by comparing the specified results and judging the coincident position as the position of the detection target, there is an effect that the position of the detection target can be specified accurately in a wide angle range.
【００３７】請求項４の発明は、間隔可変手段は、２つ
の受信部のうち一方を移動させることで、２つの受信部
の間隔を可変させるので、請求項３の発明と同様の効果
を奏する。According to a fourth aspect of the present invention, the interval varying means varies the interval between the two receiving sections by moving one of the two receiving sections, and thus has the same effect as the third aspect of the invention. .
【００３８】請求項５の発明は、間隔可変手段は、２つ
の受信部を移動させることで、２つの受信部の間隔を可
変させるので、請求項３と同様の効果を奏する。According to the fifth aspect of the present invention, the interval changing means changes the interval between the two receiving sections by moving the two receiving sections, and thus has the same effect as the third aspect.
【図１】実施形態１を示す概略構成図である。FIG. 1 is a schematic configuration diagram showing a first embodiment.
【図２】実施形態２を示す概略構成図である。FIG. 2 is a schematic configuration diagram showing a second embodiment.
【図３】実施形態３を示す概略構成図である。FIG. 3 is a schematic configuration diagram showing a third embodiment.
【図４】同上の他の概略構成図である。FIG. 4 is another schematic configuration diagram of the above.
【図５】従来例を示す概略構成図である。FIG. 5 is a schematic configuration diagram showing a conventional example.
【図６】同上の位置特定方法を説明するための説明図で
ある。FIG. 6 is an explanatory diagram for describing a position identification method according to the embodiment.
【図７】同上の動作説明図である。FIG. 7 is an operation explanatory diagram of the above.
【図８】同上の他の動作説明図である。FIG. 8 is another operation explanatory view of the above embodiment.
１０ａ 受信部 １１〜１４ 受信素子 ２０ａ 受信部 ２１〜２４ 受信素子 ６１ 送信部 ７０ 演算処理部 10a Receiving Unit 11-14 Receiving Element 20a Receiving Unit 21-24 Receiving Element 61 Transmitting Unit 70 Arithmetic Processing Unit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 藤井 隆 大阪府門真市大字門真1048番地松下電工株 式会社内 (72)発明者 寺田 直人 大阪府門真市大字門真1048番地松下電工株 式会社内 Ｆターム(参考） 2G005 AA04 DA04 5J070 AC01 AD02 AD03 AJ13 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takashi Fujii 1048 Kadoma Kadoma, Kadoma-shi, Osaka Matsushita Electric Works, Ltd. (72) Inventor Naoto Terada 1048 Kadoma Kadoma, Kadoma-shi, Osaka Matsushita Electric Works F Terms (reference) 2G005 AA04 DA04 5J070 AC01 AD02 AD03 AJ13
Claims (5)
出部と、送出した波動による反射波を受信する２つの異
なる位置に配置された受信部と、送出部で波動が送出さ
れてから各受信部で反射波が受信されるまでの時間差、
各受信部で受信された反射波の位相差を測定して検出対
象物の位置を特定する演算処理部とを備え、各受信部
は、反射波を受ける複数の素子を配列してなり、一方の
受信部における複数の素子の配列中に、他方の受信部に
おける複数の素子のうち少なくとも１つが位置するよう
に配置されたことを特徴とする物体検出装置。1. A transmitting unit for transmitting a wave such as an electromagnetic wave or a sound wave, a receiving unit disposed at two different positions for receiving a reflected wave due to the transmitted wave, and each of the transmitting units after the wave is transmitted by the transmitting unit. The time difference until the reflected wave is received by the receiver,
An arithmetic processing unit that specifies the position of the detection target by measuring the phase difference of the reflected waves received by each receiving unit, and each receiving unit is configured by arranging a plurality of elements that receive the reflected waves. An object detection device, wherein at least one of the plurality of elements in the other receiving unit is arranged in the arrangement of the plurality of elements in the receiving unit.
出部と、送出した波動による反射波を受信して受信信号
を出力する少なくとも３つの異なる位置に配置された受
信部と、前記複数の受信部のうち何れか２つの受信信号
を基に、送出部で波動が送出されてから各受信部で反射
波が受信されるまでの時間差、各受信部で受信された反
射波の位相差を測定して、検出対象物の位置を特定する
演算処理部と、前記複数の受信部のうち何れか２つの受
信部からの受信信号を切り換えて演算処理部に出力する
切換手段とを備え、切換手段は、受信信号を切り換えた
とき、演算処理部に受信信号を出力する受信部の間隔を
異ならせ、演算処理部は、切換手段の切換前に特定した
検出対象物の位置を、切換手段の切換後に特定した検出
対象物の位置と比較して、互いに一致する位置を検出対
象物の位置として判断することを特徴とする物体検出装
置。2. A transmitting section for transmitting a wave such as an electromagnetic wave or a sound wave, receiving sections disposed at at least three different positions for receiving a reflected wave of the transmitted wave and outputting a received signal, and Based on any two received signals of the receiving units, the time difference between the transmission of the wave by the transmitting unit and the reception of the reflected wave by each receiving unit and the phase difference of the reflected wave received by each receiving unit are calculated. An arithmetic processing unit that measures and specifies the position of the detection target; and a switching unit that switches a reception signal from any two of the plurality of receiving units and outputs the signal to the arithmetic processing unit. The means, when switching the received signal, varies the interval between the receiving sections that output the received signal to the arithmetic processing section, and the arithmetic processing section determines the position of the detection target identified before the switching of the switching means by the switching means. Comparison with the position of the detection target specified after switching An object detection device that determines a position that matches each other as a position of a detection target.
出部と、送出した波動による反射波を受信して受信信号
を出力する２つの異なる位置に配置された受信部と、前
記受信部の受信信号を基に、送出部で波動が送出されて
から各受信部で反射波が受信されるまでの時間差、各受
信部で受信された反射波の位相差を測定して、検出対象
物の位置を特定する演算処理部と、前記２つ受信部の間
隔を可変させる間隔可変手段とを備え、演算処理部は、
間隔可変手段で前記間隔を可変する前に特定した検出対
象物の位置を、間隔可変手段で前記間隔を可変した後に
特定した検出対象物の位置と比較して、互いに一致する
位置を検出対象物の位置として判断することを特徴とす
る物体検出装置。3. A transmitting unit for transmitting a wave such as an electromagnetic wave or a sound wave, a receiving unit disposed at two different positions for receiving a reflected wave of the transmitted wave and outputting a received signal, Based on the received signal, the time difference from when the wave is sent out by the sending unit to when the reflected wave is received by each receiving unit, and the phase difference of the reflected wave received by each receiving unit are measured, and the detection target is measured. An arithmetic processing unit that specifies a position, and an interval changing unit that changes an interval between the two receiving units, the arithmetic processing unit includes:
The position of the detection target specified before changing the interval by the variable interval unit is compared with the position of the detection target specified after changing the interval by the variable interval unit, and the positions that match each other are detected. An object detection apparatus characterized in that the position is determined as the position of the object.
方を移動させることで、２つの受信部の間隔を可変させ
ることを特徴とする請求項３記載の物体検出装置。4. The object detection apparatus according to claim 3, wherein the interval variable means changes one of the two receiving units to change an interval between the two receiving units.
せることで、２つの受信部の間隔を可変させることを特
徴とする請求項３記載の物体検出装置。5. The object detecting apparatus according to claim 3, wherein the interval changing unit changes the interval between the two receiving units by moving the two receiving units.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001160779A JP2002350533A (en) | 2001-05-29 | 2001-05-29 | Body detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001160779A JP2002350533A (en) | 2001-05-29 | 2001-05-29 | Body detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002350533A true JP2002350533A (en) | 2002-12-04 |
Family
ID=19004143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001160779A Withdrawn JP2002350533A (en) | 2001-05-29 | 2001-05-29 | Body detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002350533A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010513921A (en) * | 2006-12-19 | 2010-04-30 | レーダーボラゲット アイ イェーヴレ アーベー | Method and apparatus for detecting the movement of the surface of an object |
| CN111712726A (en) * | 2018-02-15 | 2020-09-25 | 罗伯特·博世有限公司 | Angle-resolved broadband radar sensor for motor vehicles |
| CN111771139A (en) * | 2018-02-15 | 2020-10-13 | 罗伯特·博世有限公司 | Angle estimation and multivalued resolution of radar sensors for motor vehicles with large antenna arrays |
-
2001
- 2001-05-29 JP JP2001160779A patent/JP2002350533A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010513921A (en) * | 2006-12-19 | 2010-04-30 | レーダーボラゲット アイ イェーヴレ アーベー | Method and apparatus for detecting the movement of the surface of an object |
| CN111712726A (en) * | 2018-02-15 | 2020-09-25 | 罗伯特·博世有限公司 | Angle-resolved broadband radar sensor for motor vehicles |
| CN111771139A (en) * | 2018-02-15 | 2020-10-13 | 罗伯特·博世有限公司 | Angle estimation and multivalued resolution of radar sensors for motor vehicles with large antenna arrays |
| JP2021513656A (en) * | 2018-02-15 | 2021-05-27 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ | Angle estimation and ambiguity elimination for automotive radar sensors with large antenna arrays |
| JP2021513657A (en) * | 2018-02-15 | 2021-05-27 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ | Angle-resolved, wideband radar sensor for automobiles |
| JP7019060B2 (en) | 2018-02-15 | 2022-02-14 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Angle estimation and ambiguity elimination for automotive radar sensors with large antenna arrays |
| US11422251B2 (en) | 2018-02-15 | 2022-08-23 | Robert Bosch Gmbh | Angle-resolving broadband radar sensor for motor vehicles |
| JP7130048B2 (en) | 2018-02-15 | 2022-09-02 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Angle-resolved, broadband automotive radar sensor |
| US11486997B2 (en) | 2018-02-15 | 2022-11-01 | Robert Bosch Gmbh | Angle estimation and ambiguity resolution of radar sensors for motor vehicles with a large antenna array |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10222463B2 (en) | Systems and methods for 4-dimensional radar tracking | |
| JP2002372577A (en) | Obstruction detector | |
| JP2001264427A (en) | Radar | |
| JP2002350533A (en) | Body detector | |
| JP4232640B2 (en) | Direction detector | |
| JP2002350536A (en) | Obstacle detector | |
| JP2007127455A (en) | Object location detection apparatus | |
| JP2007286033A (en) | Radio detector and method | |
| JP2007121045A (en) | Ultrasonic object detector | |
| JP2004184341A (en) | Azimuth detection device | |
| IL276015B2 (en) | Systems and methods of target detection | |
| TWI649576B (en) | Radio device capable of resolving sound source orientation to improve receiving effect | |
| JP2005010011A (en) | Position measuring device and mobile robot | |
| JP2000200142A (en) | Digitizer and position indicator information detection method | |
| JP7367322B2 (en) | Object position detection sensor | |
| JP2002139559A (en) | Method for discriminating target | |
| JP3593630B2 (en) | Human body detection sensor | |
| KR200364690Y1 (en) | Radio position finding system using radion-direction fider | |
| JP2015021855A (en) | Target detection device, target detection method, program and recording medium | |
| JPS5951372A (en) | Antenna | |
| JPH1130662A (en) | Active sonar signal processing method and system | |
| JP4025328B2 (en) | Bistatic active processing equipment | |
| JP2000046928A (en) | Radar apparatus | |
| JPH03220481A (en) | Target detector | |
| JP2002162461A (en) | Periphery detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20080805 |